Lock core segment mutex in Memory::update()

source/RobotAPI/libraries/armem/core/base/MemoryBase.h

@@ -238,7 +238,7 @@ namespace armarx::armem::base
          * @param update The update.
          * @return The resulting entity snapshot's ID.
          */
-        UpdateResult update(const EntityUpdate& update)
+        virtual UpdateResult update(const EntityUpdate& update)
         {
             this->_checkContainerName(update.entityID.memoryName, this->name());
 

source/RobotAPI/libraries/armem/core/workingmemory/Memory.cpp

@@ -3,6 +3,28 @@
 
 namespace armarx::armem::wm
 {
+
+    Memory::Base::UpdateResult Memory::update(const EntityUpdate& update)
+    {
+        this->_checkContainerName(update.entityID.memoryName, this->name());
+
+        auto it = this->_container.find(update.entityID.coreSegmentName);
+        if (it != this->_container.end())
+        {
+            Base::UpdateResult ret;
+            {
+                std::scoped_lock lock(it->second.mutex());
+                ret = it->second.update(update);
+            }
+            ret.memoryUpdateType = UpdateType::UpdatedExisting;
+            return ret;
+        }
+        else
+        {
+            throw armem::error::MissingEntry::create<CoreSegment>(update.entityID.coreSegmentName, *this);
+        }
+    }
+
     Commit Memory::toCommit() const
     {
         Commit c;

source/RobotAPI/libraries/armem/core/workingmemory/Memory.h

@@ -27,6 +27,10 @@ namespace armarx::armem::wm
         Memory& operator=(const Memory& other) = default;
         Memory& operator=(Memory&& other) = default;
 
+
+        virtual Base::UpdateResult update(const EntityUpdate& update) override;
+
+
         /**
          * @brief Convert the content of this memory into a commit
          * @return The resulting commit